root / rgbdslam / external / siftgpu / src / ServerSiftGPU / ServerSiftGPU.cpp @ 9240aaa3
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1 | 9240aaa3 | Alex | ////////////////////////////////////////////////////////////////////////////
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2 | // File: ServerSiftGPU.cpp
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3 | // Author: Changchang Wu
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4 | // Description : implementation for the ServerSiftGPU class.
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5 | //
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6 | // Copyright (c) 2007 University of North Carolina at Chapel Hill
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7 | // All Rights Reserved
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8 | //
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9 | // Permission to use, copy, modify and distribute this software and its
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10 | // documentation for educational, research and non-profit purposes, without
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11 | // fee, and without a written agreement is hereby granted, provided that the
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12 | // above copyright notice and the following paragraph appear in all copies.
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13 | //
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14 | // The University of North Carolina at Chapel Hill make no representations
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15 | // about the suitability of this software for any purpose. It is provided
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16 | // 'as is' without express or implied warranty.
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17 | //
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18 | // Please send BUG REPORTS to ccwu@cs.unc.edu
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19 | //
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20 | ////////////////////////////////////////////////////////////////////////////
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21 | |||
22 | #include <iostream> |
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23 | #include <vector> |
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24 | |||
25 | using std::cout;
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26 | using std::vector;
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27 | |||
28 | |||
29 | #if defined(SERVER_SIFTGPU_ENABLED)
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30 | |||
31 | #include "GL/glew.h" |
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32 | |||
33 | #ifdef _WIN32
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34 | #include <winsock2.h> |
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35 | #include <process.h> |
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36 | #define socklen_t int |
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37 | #pragma comment(lib, "ws2_32.lib") |
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38 | #else
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39 | #include <string.h> |
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40 | #include <stdio.h> |
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41 | #include <stdlib.h> |
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42 | #include <sys/types.h> |
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43 | #include <sys/socket.h> |
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44 | #include <unistd.h> |
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45 | #include <pthread.h> |
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46 | #include <spawn.h> |
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47 | #include <netdb.h> |
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48 | #include <netinet/in.h> |
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49 | //conversion from Win32
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50 | typedef int SOCKET; |
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51 | #define INVALID_SOCKET -1 |
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52 | #define closesocket close
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53 | #endif
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54 | |||
55 | #include "../SiftGPU/SiftGPU.h" |
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56 | #include "ServerSiftGPU.h" |
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57 | |||
58 | |||
59 | |||
60 | |||
61 | |||
62 | |||
63 | class SocketUtil |
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64 | { |
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65 | public:
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66 | static int readline(SOCKET s, char *buf, int nread) |
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67 | { |
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68 | char c;
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69 | int num,n=0; |
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70 | for(n=1; n<nread; n++) |
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71 | { |
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72 | if((num=recv(s,&c,1,0))==1) |
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73 | { |
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74 | if(c== '\n') break; |
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75 | if(c==0) *buf++=' '; |
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76 | else *buf++=c;
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77 | }else if( num==0) |
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78 | { |
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79 | if(n==1) return 0; |
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80 | else break; |
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81 | }else
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82 | { |
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83 | return -1; |
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84 | } |
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85 | } |
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86 | *buf=0;
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87 | return n;
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88 | } |
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89 | static int readint(SOCKET s, int* data, int count = 1) |
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90 | { |
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91 | int size = (sizeof(int) * count); |
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92 | data[0] = 0; |
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93 | return recv(s, (char*)data, size, 0) == size; |
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94 | } |
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95 | static int writeint(SOCKET s, int data) |
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96 | { |
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97 | int size = sizeof(int); |
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98 | return send(s, (char*) (&data), size, 0) == size; |
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99 | } |
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100 | static int writeint(SOCKET s, unsigned int data) |
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101 | { |
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102 | int size = sizeof(unsigned int); |
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103 | return send(s, (char*) (&data), size, 0) == size; |
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104 | } |
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105 | static int writedata(SOCKET s, const void* data, int count) |
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106 | { |
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107 | return send(s, (const char*)data, count, 0) == count; |
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108 | } |
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109 | static int readdata(SOCKET s, void* data, int count) |
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110 | { |
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111 | int count_read_sum = 0, count_read; |
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112 | char * p = (char*) data; |
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113 | do
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114 | { |
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115 | count_read = recv(s, p, count - count_read_sum, 0);
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116 | p+= count_read; |
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117 | count_read_sum += count_read; |
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118 | }while(count_read > 0 && count_read_sum < count); |
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119 | return count_read_sum == count;
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120 | } |
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121 | static int init() |
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122 | { |
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123 | |||
124 | #ifdef _WIN32
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125 | WSADATA WsaData; |
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126 | if(WSAStartup(0x0202, &WsaData)) |
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127 | { |
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128 | std::cout << "server: can't startup socket\n";
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129 | return 0; |
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130 | }else
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131 | { |
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132 | return 1; |
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133 | } |
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134 | #else
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135 | return 1; |
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136 | #endif
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137 | |||
138 | } |
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139 | }; |
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140 | |||
141 | |||
142 | ServerSiftGPU::ServerSiftGPU(int port, char* remote_server) |
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143 | { |
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144 | _port = port; |
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145 | _socketfd = INVALID_SOCKET; |
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146 | _connected = 0;
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147 | strcpy(_server_name, remote_server? remote_server : "\0");
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148 | } |
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149 | |||
150 | int ServerSiftGPU::InitSocket()
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151 | { |
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152 | return SocketUtil::init();
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153 | } |
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154 | |||
155 | |||
156 | int ServerSiftGPU::StartServerProcess(int argc, char** argv) |
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157 | { |
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158 | vector<char*> args(argc + 4); char ports[16]; |
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159 | |||
160 | args[0] = "server_siftgpu"; |
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161 | args[1] = "-server"; |
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162 | sprintf(ports, "%d", _port);
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163 | args[2] = ports;
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164 | ///////////////////////////////////////////////
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165 | for(int i = 0; i < argc; ++i) args[i + 3] = argv[i]; |
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166 | args[argc + 3] = 0; |
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167 | ///////////////////////////////////////////////////////
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168 | //make a new process
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169 | #ifdef _WIN32
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170 | int result = (int) _spawnv(_P_NOWAIT, "server_siftgpu.exe", &args[0]); |
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171 | if(result == -1) std::cerr<< "spawn returns -1 with error = " << errno << "\n"; |
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172 | return result != -1; |
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173 | #else
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174 | #ifdef __APPLE__
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175 | #define LIBPATH_NAME "DYLD_LIBRARY_PATH" |
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176 | #else
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177 | #define LIBPATH_NAME "LD_LIBRARY_PATH" |
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178 | #endif
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179 | int result; pid_t pid;
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180 | char* oldpath = getenv(LIBPATH_NAME);
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181 | if(oldpath == NULL) |
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182 | { |
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183 | result = posix_spawn(&pid, "server_siftgpu", NULL, NULL, &args[0], NULL); |
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184 | }else
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185 | { |
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186 | char newpath[1024]= LIBPATH_NAME "="; |
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187 | strcat(newpath, oldpath); |
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188 | char* envp [] = {newpath, 0}; |
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189 | result = posix_spawn(&pid, "server_siftgpu", NULL, NULL, &args[0], envp); |
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190 | } |
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191 | if(result) std::cerr << "failed to use poxis_spawn to create the server.\n"; |
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192 | return result == 0; |
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193 | #endif
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194 | } |
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195 | |||
196 | int ServerSiftGPU::ConnectServer(const char* server_name, int port) |
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197 | { |
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198 | struct hostent* hh;
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199 | |||
200 | if((hh = gethostbyname(server_name)) == NULL)return 0; |
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201 | |||
202 | ////////////////////////////////////////
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203 | struct sockaddr_in servaddr;
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204 | memset(&servaddr, 0, sizeof(servaddr)); |
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205 | servaddr.sin_family = AF_INET; |
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206 | servaddr.sin_port = htons(port); |
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207 | servaddr.sin_addr.s_addr=((struct in_addr*)(hh->h_addr))->s_addr;
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208 | |||
209 | ((SOCKET&)_socketfd) = socket(AF_INET, SOCK_STREAM, 0);
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210 | if(_socketfd==INVALID_SOCKET) return 0; |
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211 | |||
212 | //if can not connect to server, start again
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213 | if(connect(_socketfd, (struct sockaddr *)&servaddr, sizeof(servaddr))) |
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214 | { |
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215 | closesocket(_socketfd); |
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216 | _socketfd = INVALID_SOCKET; |
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217 | return 0; |
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218 | }else
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219 | { |
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220 | std::cout<<"Connected to server " << server_name << "\n"; |
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221 | return 1; |
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222 | } |
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223 | } |
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224 | |||
225 | void ServerSiftGPU::Disconnect()
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226 | { |
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227 | SocketUtil::writeint(_socketfd, _server_name[0]? COMMAND_DISCONNECT : COMMAND_EXIT);
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228 | closesocket(_socketfd); |
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229 | _socketfd = INVALID_SOCKET; |
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230 | _connected = 0;
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231 | } |
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232 | |||
233 | ServerSiftGPU::~ServerSiftGPU() |
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234 | { |
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235 | if(_connected) Disconnect();
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236 | } |
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237 | |||
238 | |||
239 | inline void ServerSiftGPU::ServerLoop(int port, int argc, char** argv) |
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240 | { |
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241 | SOCKET sockfd, newsockfd; |
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242 | struct sockaddr_in serv_addr, cli_addr;
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243 | socklen_t addr_len = sizeof(sockaddr_in);
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244 | //////////////////////////////////////////////////
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245 | memset((char*)&serv_addr, 0, sizeof(serv_addr)); |
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246 | serv_addr.sin_family = AF_INET; |
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247 | serv_addr.sin_port = htons(port); |
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248 | serv_addr.sin_addr.s_addr = INADDR_ANY; |
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249 | /////////////////////////////////////////////
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250 | |||
251 | if(ServerSiftGPU::InitSocket() == 0) |
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252 | { |
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253 | return;
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254 | } |
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255 | //////////////////////////////////////////////////////////////
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256 | sockfd=socket(AF_INET,SOCK_STREAM,0);
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257 | if(sockfd==INVALID_SOCKET)
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258 | { |
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259 | std::cout << "server: can't open stream socket\n";
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260 | return;
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261 | }else if(bind(sockfd,(struct sockaddr*)&serv_addr, sizeof(serv_addr))) |
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262 | { |
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263 | std::cout << "server: can't bind to port " << port <<"\n"; |
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264 | return;
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265 | }else if(listen(sockfd, 1)) |
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266 | { |
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267 | std::cout << "server: failed to listen\n";
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268 | return;
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269 | }else
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270 | { |
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271 | std::cout << "server: listent to port "<< port << "\n"; |
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272 | } |
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273 | |||
274 | newsockfd = accept(sockfd, (struct sockaddr*) &cli_addr, &addr_len);
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275 | if(newsockfd == INVALID_SOCKET)
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276 | { |
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277 | std::cout << "error: accept failed\n";
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278 | closesocket(sockfd); |
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279 | return;
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280 | } |
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281 | ////////////////////////////////////////////////////////////////
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282 | char buf[1024]; |
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283 | int command, result;
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284 | int sift_feature_count = 0;; |
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285 | vector<SiftGPU::SiftKeypoint> keys; |
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286 | vector<float> descriptors;
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287 | vector<char> databuf;
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288 | |||
289 | /////////////////////////////////////////////////////////////////
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290 | SiftGPU siftgpu; |
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291 | SiftMatchGPU matcher; |
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292 | |||
293 | if(argc > 0) siftgpu.ParseParam(argc, argv); |
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294 | |||
295 | /////////////////////
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296 | siftgpu.SetVerbose(0);
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297 | /////////////////////////////////////////////////////////////////
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298 | |||
299 | do
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300 | { |
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301 | while(SocketUtil::readint(newsockfd, &command) && command != COMMAND_DISCONNECT)
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302 | { |
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303 | switch(command)
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304 | { |
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305 | case COMMAND_INITIALIZE:
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306 | { |
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307 | result = (siftgpu.CreateContextGL() == SiftGPU::SIFTGPU_FULL_SUPPORTED); |
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308 | SocketUtil::writeint(newsockfd, result); |
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309 | if(result) break; |
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310 | } |
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311 | case COMMAND_EXIT:
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312 | closesocket(newsockfd); |
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313 | closesocket(sockfd); |
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314 | return;
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315 | case COMMAND_ALLOCATE_PYRAMID:
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316 | { |
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317 | int size[2]; |
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318 | SocketUtil::readint(newsockfd, size, 2);
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319 | if(size[0] > 0 && size[1] > 0) siftgpu.AllocatePyramid(size[0], size[1]); |
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320 | break;
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321 | } |
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322 | case COMMAND_GET_KEY_VECTOR:
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323 | { |
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324 | int size = sift_feature_count * sizeof(SiftGPU::SiftKeypoint); |
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325 | SocketUtil::writedata(newsockfd, &keys[0], size);
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326 | break;
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327 | } |
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328 | case COMMAND_GET_DES_VECTOR:
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329 | { |
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330 | int size = sift_feature_count * sizeof(float) * 128; |
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331 | SocketUtil::writedata(newsockfd, &descriptors[0], size);
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332 | break;
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333 | } |
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334 | case COMMAND_RUNSIFT:
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335 | { |
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336 | result = siftgpu.RunSIFT(); |
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337 | if((sift_feature_count = siftgpu.GetFeatureNum()) > 0) |
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338 | { |
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339 | keys.resize(sift_feature_count); |
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340 | descriptors.resize(sift_feature_count * 128);
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341 | siftgpu.GetFeatureVector(&keys[0], &descriptors[0]); |
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342 | std::cout << "RunSIFT: [-] [" << sift_feature_count << "]\n"; |
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343 | } |
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344 | SocketUtil::writeint(newsockfd, result); |
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345 | break;
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346 | } |
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347 | case COMMAND_RUNSIFT_FILE:
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348 | { |
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349 | SocketUtil::readline(newsockfd, buf, 1024);
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350 | |||
351 | result = siftgpu.RunSIFT(buf); |
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352 | if((sift_feature_count = siftgpu.GetFeatureNum()) > 0) |
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353 | { |
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354 | keys.resize(sift_feature_count); |
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355 | descriptors.resize(sift_feature_count * 128);
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356 | siftgpu.GetFeatureVector(&keys[0], &descriptors[0]); |
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357 | } |
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358 | std::cout << "RunSIFT: "<< buf <<" " << sift_feature_count << "\n" ; |
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359 | SocketUtil::writeint(newsockfd, result); |
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360 | break;
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361 | } |
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362 | case COMMAND_SET_KEYPOINT:
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363 | { |
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364 | int keys_have_orientation;
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365 | SocketUtil::readint(newsockfd, &sift_feature_count); |
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366 | SocketUtil::readint(newsockfd, &keys_have_orientation); |
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367 | if(sift_feature_count > 0) |
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368 | { |
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369 | keys.resize(sift_feature_count); |
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370 | descriptors.resize(sift_feature_count * 128);
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371 | SocketUtil::readdata(newsockfd, &keys[0], int(keys.size() * sizeof(SiftGPU::SiftKeypoint))); |
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372 | siftgpu.SetKeypointList(sift_feature_count, &keys[0], keys_have_orientation);
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373 | } |
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374 | break;
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375 | } |
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376 | case COMMAND_RUNSIFT_KEY:
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377 | { |
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378 | int keys_have_orientation;
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379 | SocketUtil::readint(newsockfd, &sift_feature_count); |
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380 | SocketUtil::readint(newsockfd, &keys_have_orientation); |
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381 | if(sift_feature_count > 0) |
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382 | { |
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383 | std::cout << "RunSIFT: "<< sift_feature_count << " KEYPOINTS\n" ; |
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384 | int key_data_size = sift_feature_count * sizeof(SiftGPU::SiftKeypoint); |
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385 | keys.resize(sift_feature_count); |
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386 | descriptors.resize(sift_feature_count * 128);
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387 | SocketUtil::readdata(newsockfd, &keys[0], key_data_size);
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388 | result = siftgpu.RunSIFT(sift_feature_count, &keys[0], keys_have_orientation);
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389 | siftgpu.GetFeatureVector(NULL, &descriptors[0]); |
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390 | }else
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391 | { |
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392 | result = 0;
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393 | } |
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394 | SocketUtil::writeint(newsockfd, result); |
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395 | break;
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396 | } |
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397 | case COMMAND_RUNSIFT_DATA:
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398 | { |
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399 | int data_des[4], size = 0; |
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400 | SocketUtil::readint(newsockfd, data_des, 4);
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401 | SocketUtil::readint(newsockfd, &size, 1);
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402 | std::cout << "RunSIFT: [" << data_des[0] << "x" << data_des[1] << "]"; |
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403 | |||
404 | databuf.resize(size); |
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405 | void* data_ptr = &databuf[0]; |
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406 | SocketUtil::readdata(newsockfd, data_ptr, size); |
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407 | |||
408 | |||
409 | result = siftgpu.RunSIFT(data_des[0], data_des[1], data_ptr, data_des[2], data_des[3]); |
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410 | if((sift_feature_count = siftgpu.GetFeatureNum()) > 0) |
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411 | { |
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412 | keys.resize(sift_feature_count); |
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413 | descriptors.resize(sift_feature_count * 128);
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414 | siftgpu.GetFeatureVector(&keys[0], &descriptors[0]); |
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415 | } |
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416 | std::cout << "[" << sift_feature_count << "]\n"; |
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417 | SocketUtil::writeint(newsockfd, result); |
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418 | break;
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419 | } |
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420 | case COMMAND_SAVE_SIFT:
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421 | { |
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422 | SocketUtil::readline(newsockfd, buf, 1024);
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423 | siftgpu.SaveSIFT(buf); |
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424 | break;
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425 | } |
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426 | case COMMAND_SET_MAX_DIMENSION:
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427 | { |
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428 | int maxd;
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429 | if(SocketUtil::readint(newsockfd, &maxd) && maxd > 0) siftgpu.SetMaxDimension(maxd); |
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430 | break;
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431 | } |
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432 | case COMMAND_SET_TIGHTPYRAMID:
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433 | { |
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434 | int tight;
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435 | if(SocketUtil::readint(newsockfd, &tight)) siftgpu.SetTightPyramid(tight);
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436 | break;
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437 | } |
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438 | case COMMAND_GET_FEATURE_COUNT:
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439 | { |
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440 | SocketUtil::writeint(newsockfd, sift_feature_count); |
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441 | break;
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442 | } |
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443 | case COMMAND_PARSE_PARAM:
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444 | { |
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445 | SocketUtil::readline(newsockfd, buf, 1024);
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446 | std::cout << "ParseParam [" << buf << "]\n"; |
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447 | vector<char*> params;
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448 | char* p = buf;
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449 | while(*p)
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450 | { |
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451 | while(*p == ' ' || *p == '\t')*p++ = 0; |
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452 | params.push_back(p); |
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453 | while(*p && *p != ' ' && *p != '\t') p++; |
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454 | } |
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455 | siftgpu.ParseParam(params.size(), ¶ms[0]);
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456 | break;
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457 | } |
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458 | case COMMAND_MATCH_INITIALIZE:
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459 | { |
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460 | result = matcher.CreateContextGL(); |
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461 | SocketUtil::writeint(newsockfd, result); |
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462 | break;
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463 | } |
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464 | case COMMAND_MATCH_SET_LANGUAGE:
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465 | { |
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466 | int language;
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467 | if(SocketUtil::readint(newsockfd, &language)) matcher.SetLanguage(language);
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468 | break;
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469 | } |
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470 | case COMMAND_MATCH_SET_DES_FLOAT:
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471 | { |
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472 | int command[3] = {0, 0, 0}; |
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473 | if(SocketUtil::readdata(newsockfd, command, sizeof(command))) |
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474 | { |
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475 | databuf.resize(sizeof(float) * 128 * command[1]); |
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476 | if(SocketUtil::readdata(newsockfd, &databuf[0], databuf.size())) |
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477 | { |
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478 | matcher.SetDescriptors(command[0], command[1], (float*) (&databuf[0]), command[2]); |
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479 | } |
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480 | } |
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481 | break;
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482 | } |
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483 | case COMMAND_MATCH_SET_DES_BYTE:
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484 | { |
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485 | int command[3] = {0, 0, 0}; |
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486 | if(SocketUtil::readdata(newsockfd, command, sizeof(command))) |
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487 | { |
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488 | databuf.resize(sizeof(unsigned char) * 128 * command[1]); |
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489 | if(SocketUtil::readdata(newsockfd, &databuf[0], databuf.size())) |
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490 | { |
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491 | matcher.SetDescriptors(command[0], command[1], (unsigned char*) (&databuf[0]), command[2]); |
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492 | } |
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493 | } |
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494 | break;
|
||
495 | } |
||
496 | case COMMAND_MATCH_GET_MATCH:
|
||
497 | { |
||
498 | int command[2]; float fcommand[2]; |
||
499 | result = 0;
|
||
500 | if( SocketUtil::readdata(newsockfd, command, sizeof(command)) && |
||
501 | SocketUtil::readdata(newsockfd, fcommand, sizeof(fcommand)))
|
||
502 | { |
||
503 | int max_match = command[0], mbm = command[1]; |
||
504 | float distmax = fcommand[0], ratiomax = fcommand[1]; |
||
505 | databuf.resize(max_match * 2 * sizeof(int)); |
||
506 | result = matcher.GetSiftMatch(max_match, ( int(*)[2]) (&databuf[0]), distmax, ratiomax, mbm); |
||
507 | |||
508 | } |
||
509 | SocketUtil::writeint(newsockfd, result); |
||
510 | if(result > 0) SocketUtil::writedata(newsockfd, &databuf[0], sizeof(int) * 2 * result); |
||
511 | std::cout << "SiftMatch: " << result << "\n"; |
||
512 | break;
|
||
513 | } |
||
514 | case COMMAND_MATCH_SET_MAXSIFT:
|
||
515 | { |
||
516 | int max_sift;
|
||
517 | if(SocketUtil::readint(newsockfd, &max_sift)) matcher.SetMaxSift(max_sift);
|
||
518 | break;
|
||
519 | } |
||
520 | break;
|
||
521 | default:
|
||
522 | std::cout << "unrecognized command: " << command << "\n"; |
||
523 | break;
|
||
524 | } |
||
525 | } |
||
526 | |||
527 | //client disconneted
|
||
528 | closesocket(newsockfd); |
||
529 | //wait for the next client.
|
||
530 | std::cout << "wait for new client...";
|
||
531 | newsockfd = accept(sockfd, (struct sockaddr*) &cli_addr, &addr_len);
|
||
532 | if(newsockfd == INVALID_SOCKET)
|
||
533 | { |
||
534 | std::cout << "error: accept failed";
|
||
535 | closesocket(sockfd); |
||
536 | return;
|
||
537 | }else
|
||
538 | { |
||
539 | std::cout << "connected\n\n";
|
||
540 | } |
||
541 | }while(1); |
||
542 | } |
||
543 | |||
544 | void ServerSiftGPU::SetParamSiftGPU(int argc, char** argv) |
||
545 | { |
||
546 | if(!_connected || argc <= 0) return; |
||
547 | |||
548 | char buf[1025], *p = buf, cret = '\n'; |
||
549 | for(int i = 0; i < argc; ++i) |
||
550 | { |
||
551 | if(argv[i])
|
||
552 | { |
||
553 | strcpy(p, argv[i]); |
||
554 | p += strlen(argv[i]); |
||
555 | } |
||
556 | *p++= ((i +1 < argc)? ' ' : '\0'); |
||
557 | } |
||
558 | SocketUtil::writeint(_socketfd, COMMAND_PARSE_PARAM); |
||
559 | SocketUtil::writedata(_socketfd, buf, (p - buf)); |
||
560 | SocketUtil::writedata(_socketfd, &cret, 1);
|
||
561 | |||
562 | } |
||
563 | |||
564 | int ServerSiftGPU:: InitializeConnection(int argc, char** argv) |
||
565 | { |
||
566 | char server_name[1024]; |
||
567 | if(!InitSocket()) return 0 ; |
||
568 | if(_server_name[0] == 0) |
||
569 | { |
||
570 | if(StartServerProcess(argc, argv) == 0) |
||
571 | { |
||
572 | std::cout<<"Unable to start local siftgpu server\n";
|
||
573 | return 0 ; |
||
574 | } |
||
575 | strcpy(server_name, "127.0.0.1");
|
||
576 | }else
|
||
577 | { |
||
578 | strcpy(server_name, _server_name); |
||
579 | } |
||
580 | |||
581 | ///////////////////////////////////////////////
|
||
582 | if(ConnectServer(server_name, _port) == 0) |
||
583 | { |
||
584 | //wait for one second
|
||
585 | #ifdef _WIN32
|
||
586 | Sleep(1000);
|
||
587 | #else
|
||
588 | sleep(1);
|
||
589 | #endif
|
||
590 | if(ConnectServer(server_name, _port) == 0) |
||
591 | { |
||
592 | std::cout<<"Unable to connect siftgpu sever\n";
|
||
593 | return 0 ; |
||
594 | } |
||
595 | } |
||
596 | return 1; |
||
597 | } |
||
598 | |||
599 | void ServerSiftGPU::ParseParam(int argc, char **argv) |
||
600 | { |
||
601 | if(_connected == 1) |
||
602 | { |
||
603 | SetParamSiftGPU(argc, argv); |
||
604 | }else
|
||
605 | { |
||
606 | _connected = InitializeConnection(argc, argv); |
||
607 | if(_server_name[0] && argc > 0) SetParamSiftGPU(argc, argv); |
||
608 | } |
||
609 | } |
||
610 | |||
611 | int ServerSiftGPU::VerifyContextGL()
|
||
612 | { |
||
613 | ////////////////////////////////////////////////////
|
||
614 | if(!_connected) return 0; |
||
615 | |||
616 | int result = 0; |
||
617 | |||
618 | if(SocketUtil::writeint(_socketfd, COMMAND_INITIALIZE) &&
|
||
619 | SocketUtil::readint(_socketfd, &result) && result) |
||
620 | { |
||
621 | return SiftGPU::SIFTGPU_FULL_SUPPORTED;
|
||
622 | }else
|
||
623 | { |
||
624 | std::cout<<"SifGPU failed to initialize\n";
|
||
625 | Disconnect(); |
||
626 | return 0; |
||
627 | } |
||
628 | } |
||
629 | |||
630 | int ServerSiftGPU::GetFeatureNum()
|
||
631 | { |
||
632 | if(!_connected) return 0; |
||
633 | int result = 0; |
||
634 | SocketUtil::writeint(_socketfd, COMMAND_GET_FEATURE_COUNT); |
||
635 | SocketUtil::readint(_socketfd, &result); |
||
636 | return result;
|
||
637 | } |
||
638 | |||
639 | int ServerSiftGPU::AllocatePyramid(int width, int height) |
||
640 | { |
||
641 | if(!_connected) return 0; |
||
642 | int command[3] = {COMMAND_ALLOCATE_PYRAMID, width, height}; |
||
643 | return SocketUtil::writedata(_socketfd, command, sizeof(int) * 3); |
||
644 | } |
||
645 | |||
646 | ////////////////////////////////////////////////////////////
|
||
647 | void ServerSiftGPU::SaveSIFT(const char * szFileName) |
||
648 | { |
||
649 | if(!_connected) return; |
||
650 | |||
651 | char cret = '\n'; |
||
652 | SocketUtil::writeint(_socketfd, COMMAND_SAVE_SIFT); |
||
653 | SocketUtil::writedata(_socketfd, szFileName, (int)strlen(szFileName));
|
||
654 | SocketUtil::writedata(_socketfd, &cret, 1);
|
||
655 | |||
656 | } |
||
657 | |||
658 | void ServerSiftGPU::GetFeatureVector(SiftGPU::SiftKeypoint * keys, float * descriptors) |
||
659 | { |
||
660 | if(!_connected) return; |
||
661 | |||
662 | int num = GetFeatureNum(), result = 1; |
||
663 | if(keys && num > 0) |
||
664 | { |
||
665 | result&= SocketUtil::writeint(_socketfd, COMMAND_GET_KEY_VECTOR); |
||
666 | result &= SocketUtil::readdata(_socketfd, keys, num * sizeof(SiftGPU::SiftKeypoint));
|
||
667 | } |
||
668 | if(descriptors && num > 0) |
||
669 | { |
||
670 | result&= SocketUtil::writeint(_socketfd, COMMAND_GET_DES_VECTOR); |
||
671 | result&= SocketUtil::readdata(_socketfd, descriptors, num * 128 * sizeof(float)); |
||
672 | } |
||
673 | } |
||
674 | |||
675 | void ServerSiftGPU::SetKeypointList(int num, const SiftGPU::SiftKeypoint * keys, int keys_have_orientation) |
||
676 | { |
||
677 | if(!_connected) return; |
||
678 | |||
679 | SocketUtil::writeint(_socketfd, COMMAND_SET_KEYPOINT); |
||
680 | SocketUtil::writeint(_socketfd, num); |
||
681 | SocketUtil::writeint(_socketfd, keys_have_orientation); |
||
682 | SocketUtil::writedata(_socketfd, keys, sizeof(SiftGPU::SiftKeypoint) * num);
|
||
683 | |||
684 | } |
||
685 | |||
686 | void ServerSiftGPU::SetTightPyramid(int tight) |
||
687 | { |
||
688 | if(!_connected) return ; |
||
689 | SocketUtil::writeint(_socketfd, COMMAND_SET_TIGHTPYRAMID); |
||
690 | SocketUtil::writeint(_socketfd, tight); |
||
691 | |||
692 | } |
||
693 | |||
694 | void ServerSiftGPU::SetMaxDimension(int sz) |
||
695 | { |
||
696 | if(!_connected) return ; |
||
697 | SocketUtil::writeint(_socketfd, COMMAND_SET_MAX_DIMENSION); |
||
698 | SocketUtil::writeint(_socketfd, sz); |
||
699 | |||
700 | } |
||
701 | |||
702 | int ServerSiftGPU::GetPixelSizeGL(unsigned int gl_format, unsigned int gl_type) |
||
703 | { |
||
704 | int num_channel_byte = 0; |
||
705 | int num_channels = 0; |
||
706 | switch(gl_type)
|
||
707 | { |
||
708 | case GL_BITMAP:
|
||
709 | case GL_UNSIGNED_BYTE:
|
||
710 | case GL_BYTE:
|
||
711 | num_channel_byte = 1;
|
||
712 | break;
|
||
713 | case GL_UNSIGNED_SHORT:
|
||
714 | case GL_SHORT:
|
||
715 | num_channel_byte = 2;
|
||
716 | break;
|
||
717 | case GL_UNSIGNED_INT:
|
||
718 | case GL_INT:
|
||
719 | case GL_FLOAT:
|
||
720 | num_channel_byte = 4;
|
||
721 | break;
|
||
722 | default:
|
||
723 | num_channel_byte = 0;
|
||
724 | break;
|
||
725 | } |
||
726 | |||
727 | switch(gl_format)
|
||
728 | { |
||
729 | case GL_RED:
|
||
730 | case GL_GREEN:
|
||
731 | case GL_BLUE:
|
||
732 | case GL_ALPHA:
|
||
733 | case GL_LUMINANCE:
|
||
734 | num_channels = 1;
|
||
735 | break;
|
||
736 | case GL_RGB:
|
||
737 | case GL_BGR_EXT:
|
||
738 | num_channels = 3;
|
||
739 | break;
|
||
740 | case GL_RGBA:
|
||
741 | case GL_BGRA_EXT:
|
||
742 | #ifdef GL_ARGB_I3D
|
||
743 | case GL_ARGB_I3D:
|
||
744 | #endif
|
||
745 | num_channels = 4;
|
||
746 | break;
|
||
747 | case GL_LUMINANCE_ALPHA:
|
||
748 | #ifdef GL_422_EXT
|
||
749 | case GL_422_EXT:
|
||
750 | case GL_422_REV_EXT:
|
||
751 | case GL_422_AVERAGE_EXT:
|
||
752 | case GL_422_REV_AVERAGE_EXT:
|
||
753 | #endif
|
||
754 | num_channels = 2;
|
||
755 | default:
|
||
756 | num_channels = 0;
|
||
757 | break;
|
||
758 | } |
||
759 | return num_channels * num_channel_byte;
|
||
760 | } |
||
761 | |||
762 | int ServerSiftGPU::RunSIFT(int width, int height, const void * data, unsigned int gl_format, unsigned int gl_type) |
||
763 | { |
||
764 | if(width <=0 || height <= 0 || data == NULL || !_connected) return 0; |
||
765 | int num_bytes = GetPixelSizeGL(gl_format , gl_type) * width * height;
|
||
766 | if(num_bytes == 0) return 0; |
||
767 | SocketUtil::writeint(_socketfd, COMMAND_RUNSIFT_DATA); |
||
768 | unsigned int data_des[5] = {width, height, gl_format, gl_type, num_bytes}; |
||
769 | SocketUtil::writedata(_socketfd, data_des, 5 * sizeof(unsigned int)); |
||
770 | SocketUtil::writedata(_socketfd, data, num_bytes); |
||
771 | int result = 0; |
||
772 | return SocketUtil::readint(_socketfd, &result) && result;
|
||
773 | } |
||
774 | |||
775 | int ServerSiftGPU::RunSIFT(int num, const SiftGPU::SiftKeypoint * keys, int keys_have_orientation) |
||
776 | { |
||
777 | if(num <= 0 || keys == NULL) return 0; |
||
778 | if(!_connected) return 0; |
||
779 | SocketUtil::writeint(_socketfd, COMMAND_RUNSIFT_KEY); |
||
780 | SocketUtil::writeint(_socketfd, num); |
||
781 | SocketUtil::writeint(_socketfd, keys_have_orientation); |
||
782 | SocketUtil::writedata(_socketfd, keys, sizeof(SiftGPU::SiftKeypoint) * num);
|
||
783 | int result = 0; |
||
784 | return SocketUtil::readint(_socketfd, &result) && result;
|
||
785 | } |
||
786 | |||
787 | int ServerSiftGPU::RunSIFT()
|
||
788 | { |
||
789 | if(!_connected) return 0; |
||
790 | int result = 0; |
||
791 | SocketUtil::writeint(_socketfd, COMMAND_RUNSIFT); |
||
792 | return SocketUtil::readint(_socketfd, &result) && result;
|
||
793 | } |
||
794 | |||
795 | int ServerSiftGPU::RunSIFT(const char *imgpath) |
||
796 | { |
||
797 | if(!_connected) return 0; |
||
798 | int result = 0; char cret = '\n'; |
||
799 | SocketUtil::writeint(_socketfd, COMMAND_RUNSIFT_FILE); |
||
800 | SocketUtil::writedata(_socketfd, imgpath, (int)strlen(imgpath));
|
||
801 | SocketUtil::writedata(_socketfd, &cret, 1);
|
||
802 | return SocketUtil::readint(_socketfd, &result) && result;
|
||
803 | } |
||
804 | |||
805 | |||
806 | ////////////////////////////////////////////////
|
||
807 | int ServerSiftGPU::_VerifyContextGL()
|
||
808 | { |
||
809 | if(!_connected) return 0; |
||
810 | int result;
|
||
811 | if( SocketUtil::writeint(_socketfd, COMMAND_MATCH_INITIALIZE) &&
|
||
812 | SocketUtil::readint(_socketfd, &result) && result) |
||
813 | { |
||
814 | return 1; |
||
815 | }else
|
||
816 | { |
||
817 | Disconnect(); |
||
818 | return 0; |
||
819 | } |
||
820 | } |
||
821 | |||
822 | void ServerSiftGPU::SetLanguage(int gpu_language) |
||
823 | { |
||
824 | if(!_connected) return ; |
||
825 | SocketUtil::writeint(_socketfd, COMMAND_MATCH_SET_LANGUAGE); |
||
826 | SocketUtil::writeint(_socketfd, gpu_language); |
||
827 | } |
||
828 | |||
829 | void ServerSiftGPU::SetDeviceParam(int argc, char**argv) |
||
830 | { |
||
831 | ServerSiftGPU::ParseParam(argc, argv); |
||
832 | } |
||
833 | |||
834 | |||
835 | void ServerSiftGPU::SetMaxSift(int max_sift) |
||
836 | { |
||
837 | if(!_connected) return; |
||
838 | SocketUtil::writeint(_socketfd, COMMAND_MATCH_SET_MAXSIFT); |
||
839 | SocketUtil::writeint(_socketfd, max_sift); |
||
840 | } |
||
841 | |||
842 | void ServerSiftGPU::SetDescriptors(int index, int num, const float* descriptors, int id) |
||
843 | { |
||
844 | if(!_connected) return ; |
||
845 | int command[4] = {COMMAND_MATCH_SET_DES_FLOAT, index, num, id}; |
||
846 | SocketUtil::writedata(_socketfd, command, sizeof(command));
|
||
847 | SocketUtil::writedata(_socketfd, descriptors, sizeof(float) * 128 * num); |
||
848 | } |
||
849 | |||
850 | |||
851 | void ServerSiftGPU::SetDescriptors(int index, int num, const unsigned char * descriptors, int id) |
||
852 | { |
||
853 | if(!_connected) return ; |
||
854 | int command[4] = {COMMAND_MATCH_SET_DES_BYTE, index, num, id}; |
||
855 | SocketUtil::writedata(_socketfd, command, sizeof(command));
|
||
856 | SocketUtil::writedata(_socketfd, descriptors, sizeof(unsigned char) * 128 * num); |
||
857 | } |
||
858 | |||
859 | int ServerSiftGPU::GetSiftMatch(int max_match, int match_buffer[][2], |
||
860 | float distmax, float ratiomax, int mutual_best_match) |
||
861 | { |
||
862 | if(!_connected) return 0; |
||
863 | int command[3] = {COMMAND_MATCH_GET_MATCH, max_match, mutual_best_match}; |
||
864 | float fcommand[2] = {distmax, ratiomax}; |
||
865 | SocketUtil::writedata(_socketfd, command, sizeof(command));
|
||
866 | SocketUtil::writedata(_socketfd, fcommand, sizeof(fcommand));
|
||
867 | int nm; SocketUtil::readint(_socketfd, &nm);
|
||
868 | if(nm > 0) SocketUtil::readint(_socketfd, match_buffer[0], 2 * nm); |
||
869 | return nm;
|
||
870 | } |
||
871 | |||
872 | void RunServerLoop(int port, int argc, char** argv) |
||
873 | { |
||
874 | ServerSiftGPU::ServerLoop(port, argc, argv); |
||
875 | } |
||
876 | |||
877 | |||
878 | ComboSiftGPU* CreateRemoteSiftGPU(int port, char* remote_server) |
||
879 | { |
||
880 | return new ServerSiftGPU(port, remote_server); |
||
881 | } |
||
882 | |||
883 | |||
884 | #else
|
||
885 | |||
886 | #include "../SiftGPU/LiteWindow.h" |
||
887 | #include "../SiftGPU/SiftGPU.h" |
||
888 | |||
889 | ComboSiftGPU* CreateRemoteSiftGPU(int port, char* remote_server) |
||
890 | { |
||
891 | std::cout << "ServerSiftGPU need marcro SERVER_SIFTGPU_EANBLED.\n"
|
||
892 | << "Use local SiftGPU/SiftMatchGPU instead. \n";
|
||
893 | return new ComboSiftGPU; |
||
894 | } |
||
895 | |||
896 | void RunServerLoop(int port, int argc, char** argv) |
||
897 | { |
||
898 | std::cout << "ServerSiftGPU need marcro SERVER_SIFTGPU_EANBLED.\n"
|
||
899 | } |
||
900 | |||
901 | #endif
|